摘要
履带式全方位移动平台克服了传统Mecanum轮式移动平台的缺陷,应用前景广阔。用圆柱辊子Mecanum轮式全方位移动平台等效代替履带式全方位移动平台进行运动学分析,将得到的通用运动学方程应用于矩形布局的履带式全方位移动平台,得到和现有文献一致的运动学方程。将此方法应用于履带式三角形车体全方位移动平台的运动学分析,并在Adams中建立3种履带长度不同的平台模型进行中心转向角速度对比仿真分析,结果显示最大误差小于10%。
Defects of the traditional Mecanum wheeled mobile platform has been overcome by tracked omnidirectional mobile platforms and its application prospect in industry is very broad.Kinematics analysis adopts equivalent cylinder roller Mecanum wheeled mobile platform instead of tracked omnidirectional mobile platform.Using common kinematics formula on rectangular setting tracked omnidirectional mobile platform,kinematics formula obtained is same as that in existing literature.Using the methods on kinematics analysis of triangular body omnidirectional mobile platform,modeling and simulating three these platforms with different length tracks in Adams,comparing and analysing their center rotating angular velocity and the result shows that the maximum error is less than 10%.
作者
张豫南
房远
杨怀彬
崔智
史浩楠
ZHANG Yu-nan;FANG Yuan;YANG Huai-bin;CUI Zhi;SHI Hao-nan(Army Academy of Armored Forces,Beijing 100072,China)
出处
《火力与指挥控制》
CSCD
北大核心
2019年第6期132-136,共5页
Fire Control & Command Control
基金
国家国防科技工业技术基础研究基金资助项目(2015ZB15)
